CN107607188A - Counterweight automatic clamping and placing system - Google Patents
Counterweight automatic clamping and placing system Download PDFInfo
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- CN107607188A CN107607188A CN201610805411.7A CN201610805411A CN107607188A CN 107607188 A CN107607188 A CN 107607188A CN 201610805411 A CN201610805411 A CN 201610805411A CN 107607188 A CN107607188 A CN 107607188A
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- counterweight
- automatic clamping
- placing system
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Abstract
A kind of counterweight automatic clamping and placing system, including：Counterweight storage rack (1), including the multiple counterweights storage station set in the form of an array；Support frame, including X-axis framework (2) and Z axis framework (4) arranged substantially perpendicular to each other；Sliding block (13), it is arranged on X-axis framework (2) and can be moved along X-axis framework (2), sliding block (13) includes the telescoping shoring column (14) that can be stretched along Y direction；Mechanical arm, including large arm (5) and it is connected to the forearm (6) of large arm (5) end, large arm (5) is arranged on telescoping shoring column (14), and can be stretched along Z-direction, forearm (6) can rotate around the vertical direction axis of large arm (5)；And control module, for controlling flexible and forearm (6) the rotation of the movements of sliding block (13), telescoping shoring column (14) and large arm (5), so as to take out counterweight (7) from counterweight storage station or counterweight (7) is positioned over into counterweight storage station.
Description
Technical field
The present invention relates to mass metrology technical field, more particularly to a kind of counterweight automatic clamping and placing system.
Background technology
Counterweight is usually used in mass metrology field, in use, it is necessary to using upper level counterweight come the weight to next stage
Code carries out quality measurements transmission (measuring)., it is necessary to effectively be stored to it when using counterbalance mass standard, keep away
Exempt from dust under complicated environmental condition, attachment of moisture on counterweight surface, cause counterbalance mass value to change, and then it is steady to influence its
It is qualitative and can not use for a long time.
High accuracy counterweight can not be used using the boom hoisting of routine, because can so damage counterweight surface
Influence its mass value.When carrying out big mass weight mass measurement, such as 500kg counterweight to be measured is measured, it is necessary to
Measured using 10 50kg counterweight, some laboratory conditions do not reach such requirement, without high-grade 50kg weights
Code, 25 20kg counterweights are now just needed to use to carry out the comparison of quality.If so substantial amounts of counterweight is still using lifting
The use of mode one by one, efficiency is very low, and is easier to bring counterweight damage, or even the person or other equipment are caused
Injury.
The information of background of invention part is merely intended to deepen the understanding of the general background technology to the present invention, without
It should be considered as recognizing or imply information structure prior art known to those skilled in the art in any form.
The content of the invention
The present invention proposes a kind of counterweight automatic clamping and placing system, and it can realize the intensive storage of counterweight and automatic clamping and placing,
The operation of staff is very easy to, operating efficiency is improved while manpower is saved.
The present invention uses solution below：
A kind of counterweight automatic clamping and placing system, it is characterised in that including：
Counterweight storage rack, including the multiple counterweights storage station set in the form of an array；
Support frame, including X-axis framework and Z axis framework arranged substantially perpendicular to each other；
Sliding block, the sliding block is arranged on the X-axis framework and can moved along the X-axis framework, described
Sliding block includes the telescoping shoring column that can be stretched along Y direction；
Mechanical arm, including large arm and the forearm for being connected to the large arm end, the large arm are arranged at the scalable branch
On frame, and it can be stretched along Z-direction, the forearm can rotate around the vertical direction axis of the large arm；And
Control module, for control the movement of the sliding block, the telescoping shoring column and the large arm it is flexible, with
And the rotation of the forearm, store work so as to take out counterweight from counterweight storage station or counterweight is positioned over into the counterweight
Position.
Preferably, the counterweight automatic clamping and placing system also includes being used to cover counterweight storage rack, support frame and the machine
The housing of tool arm.
Preferably, the bottom of the counterweight storage rack is provided with the annular groove for accommodating the counterweight.
Preferably, the counterweight automatic clamping and placing system also includes counterweight loading box, and the bottom of the counterweight loading box is set
There is the annular groove for accommodating the counterweight.
Preferably, the periphery of the counterweight loading box sets guard rail, and top sets protective cover.
Preferably, the counterweight automatic clamping and placing system also includes guide rail and the mobile vehicle that can be slided along the guide rail,
The counterweight loading box is arranged on the mobile vehicle.
Preferably, the counterweight is that neck sets reeded cylinder, and the upper surface of the cylinder is provided with upwards
The projection of protrusion, the lower surface of the cylinder set the depression that can be engaged with the projection.
Preferably, the end of the forearm is provided with the U-shaped hold assembly with the fit depressions.
Preferably, the control module includes processor and motor, and the processor is configured to send control instruction,
Indicate that the motor drives movement, the telescoping shoring column and the flexible of the large arm, the Yi Jisuo of the sliding block
State the rotation of forearm.
Preferably, the processor is configured to store the state of station according to each counterweight, and the state is that counterweight is in place
State or counterweight omission state, count the sum of counterweight in the counterweight storage rack.
Beneficial effects of the present invention include：
1st, by array counterweight storage rack, the intensive storage of a large amount of counterweights is realized；
2nd, mechanical arm can realize the translational motion in three directions and the rotation around vertical direction, can be according to control instruction
The optional position of counterweight storage rack is reached, realizes the automatic clamping and placing of counterweight；
3rd, counterweight storage rack is covered by housing, counterweight is not disturbed by external environment such as dust, be easy to
Keep the long-time stability of counterweight value；
4th, specific weight is specifically designed for the system, the counterweight is easy to clamp, and stability is high in storage, is not easy to slide
It is dynamic；
5th, it is compact-sized, occupy little space, transmit counterweight speed it is fast, especially suitable for 20kg and 50kg counterweights storage and
Pick and place.
Methods and apparatus of the present invention has other characteristics and advantage, and these characteristics and advantage are attached from what is be incorporated herein
It will be apparent in figure and subsequent specific embodiment, or by the accompanying drawing and subsequent specific implementation being incorporated herein
Stated in detail in example, these the drawings and specific embodiments are provided commonly for explaining the certain principles of the present invention.
Brief description of the drawings
Exemplary embodiment of the present is described in more detail in conjunction with the accompanying drawings, of the invention is above-mentioned and other
Purpose, feature and advantage will be apparent, wherein, in exemplary embodiments of the present invention, identical reference number is usual
Represent same parts.
Fig. 1 shows the stereogram of the counterweight automatic clamping and placing system according to exemplary embodiment；
Fig. 2 shows the schematic diagram of the counterweight for the counterweight automatic clamping and placing system according to exemplary embodiment；
Fig. 3 shows the schematic diagram of the forearm of the counterweight automatic clamping and placing system according to exemplary embodiment；
Fig. 4 shows the top view of the counterweight storage rack of the counterweight automatic clamping and placing system according to exemplary embodiment；
Fig. 5 shows the stereogram that box is loaded according to the counterweight of the counterweight automatic clamping and placing system of exemplary embodiment.
Description of reference numerals：
1- counterweight storage racks, 2-X axle frameworks, 3- auxiliary frames, 4-Z axle frameworks, 5- large arm, 6- forearms, 61- clamping parts
Part, 7- counterweights, 8- housings, 9- counterweights loading box, 10- guard rails, 11- guide rails, 12- mobile vehicles, 13- sliding blocks, 14- can
Telescope support.
Embodiment
The present invention is more fully described below with reference to accompanying drawings.Although showing the preferred embodiments of the present invention in accompanying drawing,
However, it is to be appreciated that the present invention is may be realized in various forms without should be limited by embodiments set forth here.Conversely, there is provided
These embodiments are in order that the present invention is more thorough and complete, and can will fully convey the scope of the invention to ability
The technical staff in domain.
In the present invention, in the case where not making opposite explanation, the noun of locality that uses as " it is upper and lower, bottom, top, it is forward and backward,
It is left and right, inside and outside " it is typically what is defined in the case of counterweight automatic clamping and placing system normal use provided by the invention, specifically
Refer to the page shown in Fig. 1.
Fig. 1 shows the stereogram of the counterweight automatic clamping and placing system according to exemplary embodiment, and Fig. 2 is shown for basis
The schematic diagram of the counterweight of the counterweight automatic clamping and placing system of exemplary embodiment, Fig. 3 show the counterweight according to exemplary embodiment
The schematic diagram of the forearm of automatic clamping and placing system, Fig. 4 show the counterweight of the counterweight automatic clamping and placing system according to exemplary embodiment
The top view of storage rack, Fig. 5 show the solid of the trouble loading box according to the counterweight automatic clamping and placing system of exemplary embodiment
Figure.
Counterweight automatic clamping and placing system below with reference to Fig. 1-5 descriptions according to exemplary embodiment.As Figure 1-5, according to
The counterweight automatic clamping and placing system of exemplary embodiment includes counterweight storage rack 1, support frame, sliding block 13, mechanical arm and control
Molding block.
Counterweight storage rack 1 includes the multiple counterweights storage station set in the form of an array, i.e. counterweight storage rack 1 has more
Layer, every layer includes multiple counterweights storage station, and station is stored so as to form multiple counterweights of array format setting.Each counterweight is deposited
Station is stored up to be used to store a counterweight 7.It can be that each counterweight stores the unique numbering of station setting or address, pass through the numbering
Or address identifies the position of each counterweight storage station, so as to reach the counterweight by control instruction control machinery arm end
Station is stored, the storage of counterweight is carried out or takes out operation.
Support frame includes X-axis framework 2 and Z axis framework 4 arranged substantially perpendicular to each other.It is corresponding with its title, X-axis framework 2
Set along horizontal X direction of principal axis, Z axis framework 4 set along Z-direction (X-axis, Y-axis, Z axis direction as shown by the arrows in Figure 1).Branch
Support frame frame can also include the auxiliary frame 3 of L-shaped.The main function of support frame is the He of sliding block 13 of support bearing thereon
Mechanical arm.
Sliding block 13 is arranged on X-axis framework 2 and can moved along X-axis framework 2, and sliding block 13 includes can be along Y
The flexible telescoping shoring column 14 of direction of principal axis.By movement of the sliding block 13 along X-axis framework 2 and telescoping shoring column 14 along Y-axis side
To it is flexible, it is possible to achieve displacement of the mechanical arm being arranged on along X-axis and Y direction.
Mechanical arm includes large arm 5 and is connected to the forearm of the end of large arm 5.Wherein, large arm 5 is arranged at telescoping shoring column 14
On, and can be stretched along Z-direction, by the aggregate motion of sliding block 13 and large arm 5, the small of the end of large arm 5 can be driven
Arm 6 reaches the optional position in operating space, so as to store station close to the specified counterweight of counterweight storage rack.The energy of forearm 6
Enough vertical direction axis around the large arm 5 rotate, so as to which counterweight is taken out from specified counterweight storage station, or will
Counterweight is put into the counterweight storage station specified.
Control module receives control instruction, and movement, the telescoping shoring column 14 of sliding block 13 are controlled according to control instruction
With stretching for large arm 5 so that large arm end reaches the specified location in operating space, and control module also controls the rotation of forearm 6,
Station is stored so as to take out counterweight from specified counterweight storage station or counterweight is positioned over to the counterweight specified.
The embodiment of the present invention realizes the intensive storage of a large amount of counterweights by array counterweight storage rack, and mechanical arm can be real
The translational motion and the rotation around vertical direction in existing three directions, any position of counterweight storage rack can be reached according to control instruction
Put, realize the automatic clamping and placing of counterweight, greatly mitigate the working strength of operating personnel, improve operating efficiency.
Preferably, also included being used to accommodate counterweight storage according to the counterweight automatic clamping and placing system of exemplary embodiment
The housing 8 of frame 1.It is further preferable that the top surface of housing 8, bottom surface and three sides are made by glass, counterweight storage can be covered
Frame 1, the pollutants such as the dust in the external world are avoided to fall on counterweight surface.4th side of housing 8 is opened wide, and is easy to the behaviour of mechanical arm
Make.
Preferably, auxiliary frame and Z axis framework are fixed to ground, they need to support very big weight, it is necessary to
The stabilization of whole system is realized in support by ground.Therefore, auxiliary frame and Z axis framework use aluminum alloy material, on the one hand full
Sufficient intensity requirement, the another aspect lighter in weight of itself.In addition, aluminium alloy does not have magnetic interference, will not be to being stored in for a long time
Counterweight on station impacts.
Preferably, the bottom of counterweight storage rack 1 is provided with the annular groove for accommodating counterweight 7, such as Fig. 4 institutes
Show.The diameter of annular groove is adapted with counterweight, so as to which counterweight 7 just can be defined in wherein by annular groove, prevents counterweight 7
Slide.Annular groove can also aid in counterweight to position, when counterweight 7 is positioned in counterweight storage rack 1 by mechanical arm, even if
Robotic arm has small displacement error, and counterweight 7 can also be realized by annular groove to be resetted.
Traditional counterweight support pallet is supported using gear shaping structure from bottom to counterweight, counterweight is heavier or needs
When loading counterweight, this bottom supporting way is not easy to counterweight and keeps stable.Therefore the embodiment of the present invention is specifically designed neck and opened
The counterweight of groove, counterweight is gripped using neck gripping mode.Preferably, counterweight 7 is that neck sets reeded cylinder,
When gripping counterweight, the groove of neck can be clamped by clamper, realizes gripping.Therefore, the end of forearm 6 is provided with and groove
The U-shaped hold assembly 61 being engaged (see Fig. 3).
In addition, when counterweight mounted on top is in counterweight storage rack, although there is outer framework to keep counterweight to be not easy to rock,
If counterweight bottom is plane, counterweight still easily slides, and on the one hand causes counterweight mantle friction to damage counterweight, on the other hand
The stability of counterweight storage rack can be influenceed.Therefore, in a preferred approach, the upper surface of cylindrical counterweight is provided with protruding upward
Projection, the lower surface of cylinder set the depression that can be engaged with projection.So when a counterweight overlays another counterweight
When upper, depression and the raised nesting one by one for just coordinating, realizing counterweight, avoided rocking as far as possible.
Under many circumstances, it is necessary to which multiple counterweights are applied in combination, such as 10 50kg counterweights are needed to use, form 500kg
Quality standard is compared with counterweight to be measured.At this moment the loading and unloading of repeatedly progress counterweight are needed, this is clearly to carry out big matter
The work of most labor intensive in measurement.In order to mitigate the workload of operating personnel, counterweight is set to load in a preferred embodiment
Box 9.The bottom of counterweight loading box 9 is similar with the bottom of counterweight storage rack, is provided with the annular groove for accommodating counterweight 7, and two
The effect of kind annular groove is also identical.The periphery of counterweight loading box 9 sets guard rail 10, and guard rail 10 can be by counterweight 7
It is limited in counterweight loading box 9, can also be lifted by crane by crane.It is further preferable that the top of counterweight loading box 9 sets protection
Cover, during lifting, protective cover can load box 9 with counterweight and be lifted, can be in counterweight loads box lifting or moving process
Prevent counterweight from moving, protect counterweight and the personal safety of operating personnel.
For proof strength, magnetism-free stainless steel can be used to be made for counterweight loading box 9.Used material, no matter intensity also
It is the parameters such as magnetic, is required for the requirement for meeting standard test weight.
In addition, being used for the ease of the counterweight that counterweight is loaded into box 9 and wherein accommodated as an entirety, weight can be designed
The quality of code loading box 9, makes it equal with the quality of counterweight to be loaded.For example, loaded for the counterweight for accommodating 50kg counterweights
The deadweight of box 9 is also 50kg, and it accommodates 9 50kg counterweights, so as to be monolithically fabricated 500kg quality standard.Similarly, for accommodating
The deadweight of the counterweight loading box 9 of 20kg counterweights is also 20kg, and it accommodates 9 20kg counterweights, so as to be monolithically fabricated 200kg quality
Standard.By this design, the combination counterweights of different nominal values is formed to use.In order to reach such purpose, in counterweight plus
After load box 9 machines, its quality can be measured, to determine its actual mass value.
Preferably, guide rail 11 and the mobile vehicle 12 that can be slided along guide rail 11, mobile vehicle 12 can be set
E.g. dolly etc..Counterweight loading box 9 be arranged at shiftings, move carrier 12 on, counterweight loading box 9 in loaded required counterweight it
Afterwards, mobile vehicle 12 can be moved to other regions along guide rail, carry out next step measurement.
Preferably, control module can include processor and motor.Wherein, processor is configured as：
Specify numbering or the address of each counterweight storage station of counterweight storage rack 1, the numbering of each counterweight storage station
Or address is used to identify its position in counterweight storage rack 1；
Initial alignment and reset are carried out to the position of sliding block and mechanical arm；
Receive the operational order that operating personnel send；
Control instruction is sent, instruction motor driving sliding block 13 is moved to specified location, drives sliding block 13
Stretched with large arm 5 and turn to specified angle to designated length, and driving forearm 6；
Control instruction is sent, indicates the rotating speed of motor, it is generally, sliding when mechanical arm does not clamp counterweight
The velocity of rotation of the translational speed of dynamic model block 13, the stretching speed of sliding block 13 and large arm 5 and forearm 6 can be slightly fast, with
Operating efficiency is improved, when mechanical arm clamps counterweight, above-mentioned speed is slightly slow, maintains mechanical arm stable motion not impact, and not
Encounter counterweight body, in order to avoid cause counterbalance mass to lose；
The state of station is stored according to each counterweight of counterweight storage rack, the state is counterweight state in place or counterweight
Vacant state, count the sum of counterweight in counterweight storage rack.
Preferably, motor may include four servomotors, and this four servomotors are sent out according to processor
The control instruction gone out drives the movement of sliding block 13, the flexible of telescoping shoring column 14, the flexible and forearm 6 of large arm 5 respectively
Rotation, so as to realize counterweight loading or unloading operation.
Numbering or the address of station are stored according to each counterweight, it may be determined that the physical location of each counterweight storage station, reference
The original state and current state of each motor, it may be determined that the position and posture of large arm 5 and forearm 6, based on these information, when connecing
When receiving operational order (such as operating personnel send operational order to seek out or place some counterweight storage station counterweight
When), processor can send control instruction to motor so that the driving of each part is arrived specified location by motor, is completed
Operation.
Embodiment 1
Counterweight automatic clamping and placing system in embodiment includes counterweight storage rack 1, and its is high 6 layers, and every layer is deposited including 10 counterweights
Store up station.The orlop of counterweight storage rack 1 stores 10 50kg counterweight, and remaining five layers coexist 50 20kg counterweights of storage, counterweight
Counterweight gross mass in storage rack 1 is 1.5t.When placing counterweight, because 50kg counterbalance mass is larger, therefore place it in
Bottom, to keep the stabilization of whole counterweight storage rack 1.
Guide rail 11 and the mobile vehicle 12 slided on guide rail 11 are set close to counterweight storage rack 1, counterweight loading box 9 is set
On mobile vehicle 12.As shown in figure 5, the bottom of counterweight loading box 9 is provided with annular groove, and for accommodating counterweight, its every layer
9 50kg counterweight, common 450kg can be accommodated, counterweight loads the deadweight 50kg of box 9, and 500kg quality mark is collectively formed with counterweight
It is accurate.
Support frame includes X-axis framework 2 and Z axis framework 4 arranged substantially perpendicular to each other, in addition to auxiliary frame 3, wherein aiding in
Framework and Z axis framework are fixed on ground.
Sliding block 13 is arranged on X-axis framework and can moved along X-axis framework, and sliding block 13 includes telescoping shoring column
14, it can stretch along Y direction, so as to drive large arm 5 thereon to be moved along Y direction.Large arm 5 and telescopic, its
It can be stretched along Z-direction.Forearm 6 is fixed on the end of large arm 5 and can rotated around large arm 5, and the end of forearm 6 is U-shaped clamping part
Part 61, for clamping the groove of counterweight 7.The movement of sliding block 13, telescoping shoring column are driven respectively by four motors
Flexible and forearm 6 the rotation of 14 flexible, large arm 5, so as to realize counterweight loading or unloading operation.
Before starting the operation, following operate is carried out by computer：
1) initial address is assigned to each counterweight storage station；
2) state of each counterweight storage station of counterweight storage rack is counted, counts the sum of counterweight in counterweight storage rack；
3) initial alignment is carried out to the position of sliding block and mechanical arm.
Then, counterweight is performed automatically according to the operational order of operating personnel according to the counterweight automatic clamping and placing system of embodiment to take
Put operation.
It will be understood by those skilled in the art that the purpose of the description to embodiments of the invention is only for exemplarily saying above
The beneficial effect of bright embodiments of the invention, it is not intended to limit embodiments of the invention to given any example.
It is described above various embodiments of the present invention, described above is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.In the case of without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.The selection of term used herein, purport
The principle of each embodiment, practical application or improvement to the technology in market are best being explained, or is making the art
Other those of ordinary skill are understood that each embodiment disclosed herein.
Claims (10)
- A kind of 1. counterweight automatic clamping and placing system, it is characterised in that including：Counterweight storage rack (1), including the multiple counterweights storage station set in the form of an array；Support frame, including X-axis framework (2) and Z axis framework (4) arranged substantially perpendicular to each other；Sliding block (13), the sliding block (13) are arranged on the X-axis framework (2) and can be along the X-axis frameworks (2) Mobile, the sliding block (13) includes the telescoping shoring column (14) that can be stretched along Y direction；Mechanical arm, including large arm (5) and the forearm (6) for being connected to the large arm (5) end, the large arm (5) are arranged at described On telescoping shoring column (14), and it can be stretched along Z-direction, the forearm (6) can be around the vertical direction axle of the large arm (5) Line rotates；AndControl module, for controlling the movements of the sliding block (13), the telescoping shoring column (14) and the large arm (5) The rotation of flexible and described forearm (6), so as to take out counterweight (7) from counterweight storage station or place counterweight (7) Station is stored in the counterweight.
- 2. counterweight automatic clamping and placing system according to claim 1, it is characterised in that also include depositing for accommodating the counterweight Store up the housing (8) of frame (1).
- 3. counterweight automatic clamping and placing system according to claim 1, it is characterised in that the bottom of the counterweight storage rack (1) It is provided with the annular groove for accommodating the counterweight.
- 4. counterweight automatic clamping and placing system according to claim 1, it is characterised in that described also including counterweight loading box (9) The bottom of counterweight loading box (9) is provided with the annular groove for accommodating the counterweight (7).
- 5. counterweight automatic clamping and placing system according to claim 4, it is characterised in that the periphery of the counterweight loading box (9) Guard rail (10) is set, and top sets protective cover.
- 6. counterweight automatic clamping and placing system according to claim 4, it is characterised in that also including guide rail (11) and can be along institute The mobile vehicle (12) of guide rail (11) slip is stated, the counterweight loading box (9) is arranged on the mobile vehicle (12).
- 7. counterweight automatic clamping and placing system according to claim 1, it is characterised in that the counterweight (7) is provided with for neck The cylinder of groove, the upper surface of the cylinder are provided with projection protruding upward, and the lower surface of the cylinder sets energy Enough depressions being engaged with the projection.
- 8. counterweight automatic clamping and placing system according to claim 7, it is characterised in that the end of the forearm (6) is provided with With the U-shaped hold assembly (61) of the fit depressions.
- 9. counterweight automatic clamping and placing system according to claim 1, it is characterised in that the control module include processor and Motor, the processor are configured to send control instruction, indicate that the motor drives the sliding block (13) Mobile, described telescoping shoring column (14) and the rotation of the flexible and described forearm (6) of the large arm (5).
- 10. counterweight automatic clamping and placing system according to claim 9, it is characterised in that the processor is configured to according to every The state of individual counterweight storage station, the state is counterweight state in place or counterweight omission state, counts the counterweight storage The sum of counterweight on frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610805411.7A CN107607188A (en) | 2016-09-05 | 2016-09-05 | Counterweight automatic clamping and placing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610805411.7A CN107607188A (en) | 2016-09-05 | 2016-09-05 | Counterweight automatic clamping and placing system |
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| CN107607188A true CN107607188A (en) | 2018-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610805411.7A Pending CN107607188A (en) | 2016-09-05 | 2016-09-05 | Counterweight automatic clamping and placing system |
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